Capabilities are needed to enable driving the rover over varied terrain and to safeguard its operation. Time-delayed teleoperation is laborious and upredictable for remote operators. A better mode of operation is supervised teleoperation, or even autonomous operation, in which the rover itself is responsible for making many of the decisions necessary to maintain progress and safety. To date, Carnegie Mellon researchers have concentrated on semi-autonomous and autonomous operation, and we have already demonstrated that our navigation system can drive the rover over more than a kilometer of outdoor, natural terrain.